Parking assistance device

Abstract

A parking assistance device includes: a target speed control unit that calculates a target speed for moving the vehicle subjected to assistance to a target parking position of the vehicle subjected to assistance; a speed feedback control unit that calculates a target acceleration based on deviation between the target speed and an actual speed of the vehicle subjected to assistance; a correction processing unit that corrects the target acceleration so that an absolute value becomes small when the target speed is constant; and a vehicle control unit that controls a braking and driving force of the vehicle subjected to assistance based on the target acceleration.

The invention claimed is: 
     
         1 . A parking assistance device comprising:
 a target speed control unit that calculates a target speed for moving the vehicle subjected to assistance to a target parking position of the vehicle subjected to assistance;   a speed feedback control unit that calculates a target acceleration based on deviation between the target speed and an actual speed of the vehicle subjected to assistance;   a correction processing unit that corrects the target acceleration so that an absolute value becomes small when the target speed is constant; and   a vehicle control unit that controls a braking and driving force of the vehicle subjected to assistance based on the target acceleration.   
     
     
         2 . The parking assistance device according to  claim 1 , wherein
 in a dead zone processing mode in which the target speed is constant, the correction processing unit   corrects the target acceleration to 0 in a case where the target acceleration falls within a range of a predetermined dead zone, and   corrects the target acceleration so that the absolute value decreases by a predetermined offset value in a case where the target acceleration is not fallen within the range of the dead zone.   
     
     
         3 . The parking assistance device according to  claim 1 , wherein, in a case where the target speed changes and the dead zone processing mode in which the target speed is constant is switched to a normal mode in which the target speed is not constant, the correction processing unit corrects the target acceleration so that the change rate of the target acceleration does not exceed a predetermined change rate upper limit value.